62 lines
1.5 KiB
C
62 lines
1.5 KiB
C
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#include <components/log.h>
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#include "driver/pwm.h"
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#include <os/os.h>
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#include "motor.h"
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#include "pwm_hal.h"
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#include <driver/gpio.h>
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#include "gpio_map.h"
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#include "driver/pwr_clk.h"
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#define TAG "MOTOR"
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#define LOGI(...) BK_LOGI(TAG, ##__VA_ARGS__)
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#define LOGW(...) BK_LOGW(TAG, ##__VA_ARGS__)
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#define LOGE(...) BK_LOGE(TAG, ##__VA_ARGS__)
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#define LOGD(...) BK_LOGD(TAG, ##__VA_ARGS__)
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#define PWM_CLOCK_SOURCE (26000000)
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#define PWM_FREQ (1000)
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static uint32_t s_period = PWM_CLOCK_SOURCE / PWM_FREQ;
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static bk_err_t motor_ldo_power_enable(uint8_t enable)
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{
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if (enable) {
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bk_pm_module_vote_ctrl_external_ldo(GPIO_CTRL_LDO_MODULE_MOTOR, MOTOR_LDO_CTRL_GPIO, GPIO_OUTPUT_STATE_HIGH);
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LOGI("MOTOR_LDO_CTRL_GPIO is %d\r\n",MOTOR_LDO_CTRL_GPIO);
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} else {
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bk_pm_module_vote_ctrl_external_ldo(GPIO_CTRL_LDO_MODULE_MOTOR, MOTOR_LDO_CTRL_GPIO, GPIO_OUTPUT_STATE_LOW);
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LOGI("MOTOR_LDO_CTRL_GPIO is %d\r\n",MOTOR_LDO_CTRL_GPIO);
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}
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return BK_OK;
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}
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static void pwm_init(pwm_chan_t channel, uint32_t period)
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{
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pwm_init_config_t init_config = {0};
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init_config.psc = 0,
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init_config.period_cycle = s_period;
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init_config.duty_cycle = period;
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init_config.duty2_cycle = 0;
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init_config.duty3_cycle = 0;
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bk_pwm_init(channel, &init_config);
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bk_pwm_start(channel);
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LOGI("PWM channel is %d\r\n",channel);
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}
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void motor_close(pwm_chan_t channel){
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bk_pwm_stop(channel);
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motor_ldo_power_enable(0);
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LOGI("motor stop\r\n");
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}
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void motor_open(pwm_chan_t channel){
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pwm_init(channel, PWM_DUTY_CYCLE*s_period);
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motor_ldo_power_enable(1);
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LOGI("motor start \r\n");
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}
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